CN113509302A - Interventional procedure delivery device and delivery system - Google Patents
Interventional procedure delivery device and delivery system Download PDFInfo
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- CN113509302A CN113509302A CN202110215666.9A CN202110215666A CN113509302A CN 113509302 A CN113509302 A CN 113509302A CN 202110215666 A CN202110215666 A CN 202110215666A CN 113509302 A CN113509302 A CN 113509302A
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- 238000013152 interventional procedure Methods 0.000 title claims description 28
- 230000007246 mechanism Effects 0.000 claims description 11
- 230000003902 lesion Effects 0.000 description 11
- 210000004204 blood vessel Anatomy 0.000 description 7
- 238000010073 coating (rubber) Methods 0.000 description 5
- 238000013146 percutaneous coronary intervention Methods 0.000 description 5
- 230000005855 radiation Effects 0.000 description 5
- 210000005077 saccule Anatomy 0.000 description 4
- 238000004904 shortening Methods 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
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- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000036262 stenosis Effects 0.000 description 1
- 208000037804 stenosis Diseases 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/95—Instruments specially adapted for placement or removal of stents or stent-grafts
- A61F2/958—Inflatable balloons for placing stents or stent-grafts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/95—Instruments specially adapted for placement or removal of stents or stent-grafts
- A61F2/954—Instruments specially adapted for placement or removal of stents or stent-grafts for placing stents or stent-grafts in a bifurcation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
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- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Transplantation (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
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- Media Introduction/Drainage Providing Device (AREA)
Abstract
The invention provides an interventional operation delivery device and a delivery system, wherein the interventional operation delivery device comprises: at least one driving wheel and a plurality of driven wheels; the driven wheels and the driving wheels are alternately distributed, a delivery channel for a guide wire or a catheter to pass through is formed between the adjacent driven wheels and the driving wheels, and the interventional operation delivery device comprises a plurality of delivery channels; the driven wheel is configured to be offset from or adjacent to the drive wheel, which is configured to be rotatable in both directions. By the aid of the PCI operation pushing device, the technical problems that operation work efficiency is low and operation time is long due to the fact that only one guide wire or one guide pipe can be pushed in a PCI operation at a time are solved.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an interventional operation delivery device and a delivery system.
Background
Bifurcation lesions refer to stenosis of a blood vessel caused by plaque, blockage, etc. in the blood vessel, and are present in a plurality of sites in the blood vessel, particularly at a bifurcation of the blood vessel. At present, Coronary bifurcation lesions are mostly treated by adopting a Percutaneous Coronary Intervention (PCI) operation, and the PCI operation is difficult due to the complex lesion position, bifurcation angle and type, high technical operation difficulty and long operation time.
Aiming at bifurcation lesion, a double-stent technology is mainly used clinically, and the key point of the technology is to ensure that a main branch blood vessel and a side branch blood vessel are unobstructed simultaneously, namely the main branch and the side branch stent are required to be in place simultaneously. The existing PCI surgical robot can only carry out pushing operation of a single guide wire or a single guide pipe at a time, so that the operation work efficiency is low, the workload is large, the treatment time is long, the operation time of a patient suffering from bifurcation lesion is long, the exposure time under a radiation environment is long, and the labor intensity of doctors is high.
Disclosure of Invention
The invention aims to provide an interventional operation delivery device and a delivery system, which are used for solving the technical problems of low operation efficiency and long operation time caused by that only a single guide wire or a single guide pipe can be pushed once in a PCI operation.
The above object of the present invention can be achieved by the following technical solutions:
the present invention provides an interventional procedure delivery device comprising: at least one driving wheel and a plurality of driven wheels; the driven wheels and the driving wheels are alternately distributed, a delivery channel for a guide wire or a catheter to pass through is formed between the adjacent driven wheels and the driving wheels, and the interventional operation delivery device comprises a plurality of delivery channels;
the driven wheel is configured to be offset from or adjacent to the drive wheel, which is configured to be rotatable in both directions.
In a preferred embodiment, the delivery channels are parallel to a tangent of the drive wheel, and a plurality of the delivery channels each extend in a radial direction of the same circle.
In a preferred embodiment, the interventional surgical delivery device comprises one said driving wheel and two said driven wheels, the interventional surgical delivery device comprising two said delivery channels.
In a preferred embodiment, the interventional surgical delivery device comprises two of the driving wheels and 3 of the driven wheels, the driving wheels and the driven wheels being sequentially and alternately distributed, the interventional surgical delivery device comprising 4 of the delivery channels.
In a preferred embodiment, the interventional procedure delivery device comprises a plurality of first driven wheel sets, the first driven wheel sets comprise a plurality of driven wheels distributed along the direction of the delivery channel, the first driven wheel sets are distributed alternately with the driving wheels, and the delivery channel is formed between the adjacent first driven wheel sets and the driving wheels.
In a preferred embodiment, the first driven wheel set comprises two of the driven wheels.
In a preferred embodiment, the driven wheel is an eccentric wheel, and the driven wheel is connected with a driven motor, and the driven motor drives the driven wheel to rotate so as to enable the driven wheel to deviate from or approach the driving wheel.
In a preferred embodiment, the driven wheel comprises an eccentric shaft and a rubber coating roller sleeved outside the eccentric shaft, the eccentric shaft and the rubber coating roller are connected through a first bearing, the axis of the first bearing is coincident with the axis of the driven wheel, and the motor is connected with the eccentric shaft.
The present invention provides an interventional procedure delivery device comprising: a plurality of delivery mechanisms; the delivery mechanism comprises a driving wheel set and a second driven wheel set, a delivery channel for a guide wire or a catheter to pass through is formed between the driving wheel set and the second driven wheel set, and the interventional operation delivery device comprises a plurality of delivery channels;
the second driven wheel set comprises a plurality of driven wheels distributed along the direction of the delivery channel, and the driving wheel set comprises a plurality of driving wheels distributed along the direction of the delivery channel;
the second driven wheel set is configured to be offset from or adjacent to the drive wheel, which is configured to be rotatable in both directions.
In a preferred embodiment, the driving wheel set includes a driving wheel belt sleeved outside the driving wheel, the second driven wheel set includes a driven wheel belt sleeved outside the driven wheel, and the delivery channel is disposed between the driving wheel belt and the driven wheel belt.
In a preferred embodiment, the delivery channels in a plurality of the delivery mechanisms each extend in a radial direction of the same circle.
The present invention provides an interventional procedure delivery system comprising: a plurality of stents, a plurality of gripping devices, and the interventional procedure delivery device described above, one of the delivery channels corresponding to a set of the stents and the gripping devices, the interventional procedure delivery system being configured such that a guide wire or catheter passes through the gripping devices and the stents into the delivery channel.
In a preferred embodiment, the supporting frame comprises a supporting seat and a supporting wheel, the supporting wheel is rotatably mounted on the supporting seat, and a torsion spring is arranged between the supporting wheel and the supporting seat; the supporting seat is provided with a loading and unloading opening, the supporting wheel is provided with a supporting groove, and the torsional spring is constructed to drive the supporting wheel to rotate so that the supporting groove deviates from the loading and unloading opening.
In a preferred embodiment, the clamping device comprises a clamping motor, a clamping eccentric wheel and a clamping driven wheel, the clamping device is configured in such a way that a guide wire or a guide pipe is arranged between the clamping eccentric wheel and the clamping driven wheel in a penetrating way, the clamping motor is connected with the clamping eccentric wheel, and the clamping motor drives the clamping eccentric wheel to rotate so as to adjust the size of the distance between the clamping eccentric wheel and the clamping driven wheel.
The invention has the characteristics and advantages that:
when the interventional operation delivery device is used, a delivery channel is formed between the driven wheel and the driving wheel, and a guide wire/a catheter with a balloon and a bracket is arranged in the delivery channel in a penetrating way. Biasing the driven wheel of the side from the driving wheel, the guide wire/catheter in the delivery channel of the side not being clamped; the driven wheel on the other side is close to the driving wheel, the guide wire/catheter in the delivery channel on the side is clamped by the driving wheel and the driven wheel, and the driving wheel rotates to push the guide wire/catheter to move forwards. As described above, when the guide wire/catheter in a delivery channel needs to be pushed, the driven wheel corresponding to the delivery channel is made to approach the driving wheel, and the rotation direction of the driving wheel is adjusted, so that the guide wire/catheter in the delivery channel can be pushed.
The interventional operation delivery device comprises a plurality of delivery channels, so that a plurality of guide wires/catheters with the sacculus and the bracket can be pushed to different focus parts, the operation working efficiency is improved, the operation time is shortened, the exposure time under the radiation environment is reduced, the workload is reduced, the labor intensity of doctors is reduced, and the bifurcation lesion is better treated.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a first embodiment of an interventional surgical delivery device provided in accordance with the present invention;
FIG. 2 is a schematic structural view of a second embodiment of an interventional surgical delivery device provided in accordance with the present invention;
FIG. 3 is a schematic view of a third embodiment of an interventional surgical delivery device provided in accordance with the present invention;
FIG. 4 is a schematic structural view of a fourth embodiment of an interventional surgical delivery device provided in accordance with the present invention;
FIG. 5 is a cross-sectional view of the interventional surgical delivery device shown in FIG. 1;
fig. 6 is an isometric view of an interventional surgical delivery device provided in accordance with the present invention;
FIG. 7 is a schematic structural view of a scaffold in an interventional surgical delivery device provided by the present invention;
FIG. 8 is an exploded view of the support bracket shown in FIG. 8;
fig. 9 is an exploded view of a clamping device in an interventional surgical delivery device provided in accordance with the present invention;
FIG. 10 is a cross-sectional view of a clamping device in an interventional surgical delivery device provided in accordance with the present invention;
FIG. 11 is an enlarged exploded view of the clamping eccentric of the clamping device shown in FIG. 9;
FIG. 12 is a partial bottom view of the clamping device shown in FIG. 9;
FIG. 13 is a schematic view showing the construction of a clamping eccentric shaft in the clamping device shown in FIG. 9;
fig. 14 is a schematic structural view of a positioning block in the clamping device shown in fig. 9.
The reference numbers illustrate:
100. a delivery channel;
10. a driving wheel; 11. a driving wheel shaft; 12. connecting columns;
20. a driven wheel; 201. an eccentric shaft; 202. coating rubber on the roller; 203. a first bearing; 21. a driven motor; 211. a motor base;
22. a first driven wheel set;
23. a driven axle; 24. a linear bearing; 241. a linear bearing seat; 25. a wheel bearing; 251. a driven shaft bearing seat; 26. a coupling;
30. a delivery mechanism;
31. a second driven wheel set; 311. a driven pulley belt;
32. a driving wheel set; 321. a driving wheel belt;
40. a support plate; 41. an upper shell; 42. an upper plate;
50. a support frame;
51. a support wheel; 511. a support groove; 512. a circular shaft; 513. a first groove;
52. a supporting seat; 521. a loading and unloading port; 522. a second groove; 523. a base body; 524. a splint;
53. a torsion spring;
60. a clamping device; 61. clamping the motor;
62. clamping an eccentric wheel; 621. a positioning groove;
63. clamping the driven wheel; 631. clamping the bolt;
64. a second bearing; 65. positioning blocks; 651. positioning the boss; 66. clamping a limiting block; 67. a bearing retainer sheet;
70. a Y valve; 71. y valve fixing device
80. A guidewire.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The present invention provides an interventional procedure delivery device, as shown in fig. 1-3 and 6, comprising: at least one driving pulley 10 and a plurality of driven pulleys 20; the driven wheels 20 and the driving wheels 10 are alternately distributed, a delivery channel 100 for a guide wire 80 or a catheter to pass through is formed between the adjacent driven wheels 20 and the driving wheels 10, and the interventional operation delivery device comprises a plurality of delivery channels 100; the driven pulley 20 is configured to be offset from or close to the driving pulley 10, and the driving pulley 10 is configured to be rotatable in both directions.
In use of the interventional surgical delivery device, a delivery channel 100 is formed between the driven wheel 20 and the driving wheel 10, and a guide wire/catheter with a balloon and a stent is inserted through the delivery channel 100. Offsetting the driven wheel 20 from the driving wheel 10 on the side where the guide wire/catheter in the delivery channel 100 is not clamped; the driven wheel 20 on the other side is close to the driving wheel 10, the guide wire/catheter in the delivery channel 100 on the other side is clamped by the driving wheel 10 and the driven wheel 20, and the driving wheel 10 rotates to push the guide wire/catheter to move forwards. As described above, when the guide wire/catheter in a delivery channel 100 needs to be pushed, the driven wheel 20 corresponding to the delivery channel 100 is close to the driving wheel 10, and the rotating direction of the driving wheel 10 is adjusted, so that the guide wire/catheter in the delivery channel 100 can be pushed.
The interventional operation delivery device comprises a plurality of delivery channels 100, and can push a plurality of guide wires/catheters with balloons and stents to different focus parts, thereby improving the operation working efficiency, shortening the operation time, reducing the exposure time in the radiation environment, reducing the workload, reducing the labor intensity of doctors, and better treating bifurcation lesions.
In use of the interventional surgical delivery device, a delivery channel 100 is formed between the driven wheel 20 and the driving wheel 10, and a guide wire/catheter with a balloon and a stent is inserted through the delivery channel 100. Offsetting the driven wheel 20 from the driving wheel 10 on the side where the guide wire/catheter in the delivery channel 100 is not clamped; the driven wheel 20 on the other side is close to the driving wheel 10, the guide wire/catheter in the delivery channel 100 on the side is clamped by the driving wheel 10 and the driven wheel 20, and the driving wheel 10 rotates to push the guide wire/catheter to move forwards. As described above, when the guide wire/catheter in a delivery channel 100 needs to be pushed, the driven wheel 20 corresponding to the delivery channel 100 is close to the driving wheel 10, and the rotating direction of the driving wheel 10 is adjusted, so that the guide wire/catheter in the delivery channel 100 can be pushed.
The interventional operation delivery device comprises a plurality of delivery channels 100, so that a plurality of guide wires/catheters with balloons and stents can be pushed to different focus parts, the operation working efficiency is improved, the operation time is shortened, the exposure time in the radiation environment is reduced, the workload is reduced, the labor intensity of doctors is reduced, and bifurcation lesions are better treated.
As shown in fig. 1-3 and 6, the guide wire/catheter passes out of the driving wheel 10 and the driven wheel 20 and enters the Y-valve 70, and the Y-valve 70 guides the movement of the guide wire/catheter. As shown in fig. 1-3, a guidewire/catheter extends down the delivery channel 100 to the end of the Y-valve 70. Further, the delivery channels 100 are parallel to the tangent of the driving wheel 10, and the plurality of delivery channels 100 all extend along the radial direction of the same ring, specifically, the plurality of delivery channels 100 all extend along the radial direction of the ring with the end of the Y valve 70 as the center, so as to facilitate the driving wheel 10 to push the guide wire/catheter to move smoothly towards the Y valve 70.
In one embodiment, the interventional operation delivery device comprises a driving wheel 10 and two driven wheels 20, the interventional operation delivery device comprises two delivery channels 100, as shown in fig. 1, the interventional operation delivery device can push two guide wires/catheters with a balloon and a stent to push the guide wires/catheters with the balloon and the stent to different lesion sites, thereby improving the operation efficiency and shortening the operation time.
In another embodiment, the interventional operation delivery device comprises two driving wheels 10 and 3 driven wheels 20, the driving wheels 10 and the driven wheels 20 are sequentially and alternately distributed, the interventional operation delivery device comprises 4 delivery channels 100, as shown in fig. 3, the interventional operation delivery device can push 4 guide wires/catheters with balloons and stents to push the guide wires/catheters with the balloons and the stents to different lesion sites, the operation work efficiency is improved, and the operation time is shortened.
The number of driven wheels 20 and driving wheels 10 can be configured according to the number of guide wires/catheters required to be operated, and a sufficient number of delivery channels 100 can be designed. Preferably, when each driven wheel 20 is in the pushing state (i.e. the driven wheel 20 is close to the driving wheel 10, and the driven wheel 20 and the driving wheel 10 clamp the guide wire/catheter), the center of the circle of each driven wheel 20 and the center of the driving wheel 10 are located on the same circular arc line.
In still another embodiment, the interventional operation delivery device includes a plurality of first driven wheel sets 22, the first driven wheel sets 22 include a plurality of driven wheels 20 distributed along the direction of the delivery channel 100, the first driven wheel sets 22 are alternately distributed with the driving wheel 10, and the delivery channel 100 is formed between the adjacent first driven wheel sets 22 and the driving wheel 10, as shown in fig. 2, the interventional operation delivery device can push two guide wires/catheters with a balloon and a stent to push the guide wires/catheters with the balloon and the stent to different focal sites, thereby improving the operation efficiency and shortening the operation time. And, the first driven wheel group 22 includes a plurality of driven wheels 20, and for one delivery channel 100, the plurality of driven wheels 20 are matched with the driving wheel 10, so that the contact area between the driving wheel 10 and the driving wheel 20 and the guide wire/catheter is increased, the friction force is increased, and the driving wheel 10 is favorable for providing driving force for the guide wire/catheter more stably. Preferably, the first driven wheel set 22 includes two driven wheels 20. The number of first driven wheel sets 22 and the number of drive wheels 10 can be configured according to the number of guide wires/catheters to be operated, and a sufficient number of delivery channels 100 can be designed.
By driving the driven wheel 20 to move, the position of the driven wheel 20 relative to the driving wheel 10 is adjusted to realize that the driven wheel 20 is deviated from or close to the driving wheel 10. In one embodiment, the driven wheel 20 is an eccentric wheel, the driven wheel 20 is connected with a driven motor 21, the driven motor 21 drives the driven wheel 20 to rotate, so that the driven wheel 20 is deviated from or close to the driving wheel 10, as shown in fig. 5, fig. 5 is a cross-sectional view of the interventional operation delivery device shown in fig. 1, when the driven wheel 20 rotates under the driving of the driven motor 21, since the axis of rotation is deviated from the axis of the driven wheel 20 itself, so that the deviation of the driven wheel 20 from or close to the driving wheel 10 is realized, and the size of the interval between the driven wheel 20 and the driving wheel 10 is adjusted, so that the driven wheel 20 and the driving wheel 10 clamp or release the guide wire/catheter. Fig. 5 shows how the interventional surgical delivery device shown in fig. 1 can achieve the deviation of the driven wheel 20 from or close to the driving wheel 10, and the interventional surgical delivery device shown in fig. 2-3 can adopt a similar structure to achieve the deviation of the driven wheel 20 from or close to the driving wheel 10, which is not described in detail herein.
As shown in fig. 5, the driven wheel 20 includes an eccentric shaft 201 and a rubber coating roller 202 sleeved outside the eccentric shaft 201, the eccentric shaft 201 is connected to the rubber coating roller 202 through a first bearing 203, an axis of the first bearing 203 coincides with an axis of the driven wheel 20 itself, the driven motor 21 is connected to the eccentric shaft 201, and when the driven motor 21 drives the eccentric shaft 201 to rotate, a position of the driven wheel 20 is adjusted. When the driven wheel 20 and the driving wheel 10 clamp the guide wire/catheter, the driving wheel 10 rotates, and the rubber coating roller 202 in the driven wheel 20 can also rotate along with the rotation, so that the resistance of the driven wheel 20 to the guide wire/catheter is reduced, and the guide wire/catheter is favorably and smoothly moved. Specifically, driven motor 21 is connected to eccentric shaft 201 through driven wheel shaft 23, driven wheel shaft 23 is mounted to support plate 40 through linear bearing 24 and wheel bearing 25, and driven motor 21 is mounted to support plate 40 through motor mount 211. As shown in fig. 5, the driven wheel shaft 23 is connected with the driven motor 21 through a coupling 26; the linear bearing 24 is mounted to the support plate 40 through a linear bearing housing 241, and the wheel bearing 25 is mounted to the support plate 40 through a driven shaft bearing housing 251. The driving wheel 10 is connected with the motor through a driving wheel shaft 11 and a gear, as shown in fig. 5, the lower end of the driving wheel shaft 11 is connected with a connecting column 12, and the gear is connected with the lower end of the connecting column 12.
Example two
The present invention provides an interventional procedure delivery device, as shown in fig. 4, comprising: a plurality of delivery mechanisms 30; the delivery mechanism 30 comprises a driving wheel set 32 and a second driven wheel set 31, and a delivery channel 100 for the guide wire 80 or the catheter to pass through is formed between the driving wheel set 32 and the second driven wheel set 31; the second driven wheel group 31 comprises a plurality of driven wheels 20 distributed along the direction of the delivery passage 100, and the driving wheel group 32 comprises a plurality of driving wheels 10 distributed along the direction of the delivery passage 100; the second driven wheel group 31 is configured to be capable of deviating from or approaching the drive wheel 10, and the drive wheel 10 is configured to be capable of bidirectional rotation.
When the interventional surgical delivery device is used, a delivery channel 100 is formed between the second driven wheel set 31 and the driving wheel set 32, and a guide wire/a catheter with a balloon and a stent is arranged in the delivery channel 100. Offsetting the second driven wheel set 31 from the driving wheel set 32 on the side where the guide wire/catheter in the delivery channel 100 is not clamped; the second driven wheel set 31 on the other side is close to the driving wheel set 32, the guide wire/catheter in the delivery channel 100 on the other side is clamped by the driving wheel set 32 and the second driven wheel set 31, and the driving wheel 10 rotates to push the guide wire/catheter to move forwards. As described above, when a guide wire/catheter in a delivery channel 100 needs to be pushed, the second driven wheel set 31 corresponding to the delivery channel 100 is made to approach the driving wheel set 32, and the rotation direction of the driving wheel set 32 is adjusted, so that the guide wire/catheter in the delivery channel 100 can be pushed.
The interventional operation delivery device comprises a plurality of delivery channels 100, and can push a plurality of guide wires/catheters with balloons and stents to different focus parts, thereby improving the operation working efficiency, shortening the operation time, reducing the exposure time in the radiation environment, reducing the workload, reducing the labor intensity of doctors, and better treating bifurcation lesions.
In order to realize the deviation of the second driven wheel set 31 from or close to the driving wheel 10, in some cases, each driven wheel 20 in the second driven wheel set 31 may be respectively provided as an eccentric wheel, and a structure similar to the structure shown in fig. 5 is adopted, so that each eccentric wheel is eccentrically moved to realize the deviation from or close to the driving wheel 10. In other cases, each driven wheel 20 of the second driven wheel set 31 may be mounted to a platform that is actuated to move such that each driven wheel 20 of the second driven wheel set 31 as a unit moves together to be offset from or adjacent to the driving wheel 10.
Further, the driving pulley set 32 includes a driving pulley belt 321 sleeved outside the driving pulley 10, the second driven pulley set 31 includes a driven pulley belt 311 sleeved outside the driven pulley 20, and the delivery channel 100 is disposed between the driving pulley belt 321 and the driven pulley belt 311, as shown in fig. 4, the guide wire/catheter is clamped by the driving pulley belt 321 and the driven pulley belt 311, so that the contact area is increased, which is beneficial to providing a larger friction driving force, so as to more smoothly drive the guide wire/catheter to move.
At least one driving wheel 10 in the driving wheel set 32 is connected to a motor, and the motor provides a driving force to drive the driving wheel 10 in the driving wheel set 32 to rotate. Preferably, as shown in fig. 4, the driving pulley set 32 includes two driving pulleys 10, wherein one driving pulley 10 is connected to the motor, and the two driving pulleys 10 are driven by the motor to rotate together as the two driving pulleys 10 are connected together by the driving pulley belt 321. The number of delivery mechanisms 30 can be configured to design a sufficient number of delivery channels 100 depending on the number of guidewires/catheters that need to be operated.
As shown in fig. 4, the guide wire/catheter passes out of the driving wheel set 32 and the second driven wheel set 31 and enters the Y valve 70, the Y valve 70 guides the movement of the guide wire/catheter, and the guide wire/catheter extends to the end of the Y valve 70. Further, the delivery channels 100 of the plurality of delivery mechanisms 30 all extend along the radial direction of the same ring, and specifically, the delivery channels 100 all extend along the radial direction of the ring with the end of the Y valve 70 as the center, so that the driving wheel set 32 can conveniently push the guide wire/catheter to follow the delivery channels 100 and smoothly move towards the Y valve 70.
EXAMPLE III
The present invention provides an interventional procedure delivery system, as shown in fig. 1-4 and 6, comprising: a plurality of stents 50, a plurality of gripping devices 60, and the interventional procedure delivery device described above, one delivery channel 100 corresponding to a set of stents 50 and gripping devices 60, and an interventional procedure delivery system configured such that a guidewire 80 or catheter passes through gripping devices 60 and stents 50 into delivery channel 100. The interventional operation delivery device in the interventional operation delivery system has the same structure, working principle and beneficial effects as those of the first embodiment and the second embodiment, and is not repeated herein.
In one embodiment, the support frame 50 is disposed between the delivery device and the clamping device 60. As shown in fig. 1 to 4, one delivery passage 100 corresponds to a plurality of support racks 50, and the plurality of support racks 50 are distributed along the extending direction of the delivery passage 100.
As shown in fig. 7 and 8, the supporting frame 50 includes a supporting base 52 and a supporting wheel 51, the supporting wheel 51 is rotatably mounted on the supporting base 52, and a torsion spring 53 is disposed between the supporting wheel 51 and the supporting base 52; the support base 52 is provided with a loading and unloading opening 521, the support wheel 51 is provided with a support groove 511, and the torsion spring 53 is configured to drive the support wheel 51 to rotate so that the support groove 511 deviates from the loading and unloading opening 521. In use, an operator can pull the supporting wheel 51 to rotate, so that the supporting groove 511 is aligned with the loading and unloading opening 521 on the supporting seat 52, and the guide wire/guide pipe can be conveniently transferred into the supporting groove 511 through the loading and unloading opening 521; after the operator releases the support wheel 51, the support wheel 51 rotates back under the action of the torsion spring 53, and the support groove 511 deviates from the loading and unloading opening 521, so that the guide wire/guide pipe is limited in the support groove 511.
Specifically, as shown in fig. 8, a circular shaft 512 is disposed at the center of the supporting wheel 51, the torsion spring 53 is sleeved outside the circular shaft 512, the supporting wheel 51 is disposed with a first groove 513, and one end of the torsion spring 53 is embedded in the first groove 513; the support seat 52 is provided with a second groove 522, and the other end of the torsion spring 53 is embedded in the second groove 522. In one embodiment, the supporting seat 52 includes a seat body 523 and two clamping plates 524, the clamping plate 524 is fixed on the seat body 523, the loading/unloading opening 521 is disposed on the clamping plate 524, and the supporting wheel 51 is disposed between the two clamping plates 524; preferably, one clamping plate 524 is integrally formed with the base 523, and the other clamping plate 524 is fixed to the base 523 by bolts, so as to facilitate the assembly of the supporting frame 50.
As shown in fig. 9 and 10, the clamping device 60 includes a clamping motor 61, a clamping eccentric 62 and a clamping driven wheel 63, as shown in fig. 10 and 1-4, the clamping device 60 is configured such that a guide wire 80 or a guide tube is inserted between the clamping eccentric 62 and the clamping driven wheel 63, the clamping motor 61 is connected with the clamping eccentric 62, and the clamping motor 61 rotates the clamping eccentric 62 to adjust the size of the gap between the clamping eccentric 62 and the clamping driven wheel 63. When the delivery device pushes the guide wire/catheter to move, the clamping motor 61 drives the clamping eccentric wheel 62 to rotate so as to increase the distance between the clamping eccentric wheel 62 and the clamping driven wheel 63, and the guide wire/catheter can smoothly pass through between the clamping eccentric wheel 62 and the clamping driven wheel 63, so that the guide wire/catheter is prevented from being subjected to resistance by the clamping eccentric wheel 62 and the clamping driven wheel 63; when the guide wire/catheter is pushed in place or the pushing is suspended, the clamping motor 61 drives the clamping eccentric wheel 62 to rotate so that the distance between the clamping eccentric wheel 62 and the clamping driven wheel 63 is reduced, the guide wire/catheter is clamped, and the stability of the position of the guide wire/catheter is guaranteed.
The delivery system includes a support plate 40, and the delivery device and support bracket 50 are mounted to the support plate 40. As shown in fig. 9 to 12, the support plate 40 includes an upper case 41 and an upper plate 42, the upper plate 42 is detachably fixed to an upper surface of the upper case 41, a clamping motor 61 is mounted to the upper plate 42, and a clamping eccentric 62 is mounted to the upper case 41 via a second bearing 64; as shown in fig. 11, 13 and 14, the clamping device 60 includes a positioning block 65, the positioning block 65 is provided with a positioning boss 651, the positioning block 65 is mounted on the output shaft of the clamping motor 61, a positioning groove 621 matched with the positioning boss 651 is provided on the bottom surface of the clamping eccentric wheel 62, and the clamping motor 61 drives the clamping eccentric wheel 62 to rotate through the positioning block 65. The upper shell 41 is a disposable device, and the upper shell 41 is detachably connected with the upper plate 42, so that the upper shell 41 and the devices mounted on the upper shell 41 can be conveniently replaced, and the medical health safety is guaranteed. As shown in fig. 12, the clamp follower 63 is fixed to the support plate 40 by a clamp bolt 631. As shown in fig. 10 and 11, the clamping eccentric wheel 62 comprises a clamping limiting block 66 and a bearing blocking piece 67, wherein the clamping limiting block 66 is sleeved outside the clamping eccentric wheel 62; the bearing stopper 67 is fixed by a screw and is used for pressing the second bearing 64 to prevent the second bearing 64 from moving up and down.
As shown in fig. 1-4 and 6, the delivery system includes a Y-valve fixture 71, and in use, the Y-valve 70 is mounted to the Y-valve fixture 71, and the guide wire/catheter exits the delivery device and enters the Y-valve 70, the Y-valve 70 serving as a guide for movement of the guide wire/catheter. The structure of the Y-valve 70 is prior art and the present invention will not be described in detail.
The delivery system may be used according to the following steps:
step S10, after the doctor puts the guide wire/catheter into the Y valve 70 and then puts the guide wire/catheter into the Y valve fixing device 71, the tail end of the guide wire tube sequentially passes through the gap between the driving wheel 10 and the driven wheel 20, the supporting frame 50 and the clamping device 60;
step S20, the driven wheel 20 on one side rotates eccentrically to be close to the driving wheel 10, because the surfaces of the driving wheel 10 and the driven wheel 20 use medical silica gel cladding, the guide wire 80 is clamped by the driving wheel 10 and the driven wheel 20 through silica gel deformation, meanwhile, the driving wheel 10 provides rotation power, the driven wheel 20 and the driving wheel 10 on one side rotate simultaneously, and the guide wire is pushed forwards to reach the focus of a patient through a Y-valve catheter according to the operation of a surgeon;
step S30, the clamping device 60 clamps the guide wire, and the driven wheel 20 on one side eccentrically rotates to be separated from the driving wheel 10;
step S40, the same as the installation of the guide wire, after the catheter with the saccule and the bracket is installed, the driven wheel 20 on the other side rotates eccentrically to be close to the driving wheel 10, the catheter with the saccule and the bracket is clamped, the driving wheel 10 provides rotating power, the catheter with the saccule and the bracket is pushed forwards to reach the focus of a patient through the Y valve catheter according to the operation of a surgeon, and the bracket is placed after the blood vessel is expanded by releasing the saccule to complete the operation.
The above description is only a few embodiments of the present invention, and those skilled in the art can make various changes or modifications to the embodiments of the present invention according to the disclosure of the application document without departing from the spirit and scope of the present invention.
Claims (14)
1. An interventional surgical delivery device, comprising: at least one driving wheel and a plurality of driven wheels; the driven wheels and the driving wheels are alternately distributed, a delivery channel for a guide wire or a catheter to pass through is formed between the adjacent driven wheels and the driving wheels, and the interventional operation delivery device comprises a plurality of delivery channels;
the driven wheel is configured to be offset from or adjacent to the drive wheel, which is configured to be rotatable in both directions.
2. The interventional surgical delivery device of claim 1, wherein the delivery channel is parallel to a tangent of the driver, the delivery channels each extending in a radial direction of the same circle.
3. The interventional procedure delivery device of claim 1 or 2, wherein the interventional procedure delivery device includes one of the driving wheels and two of the driven wheels, the interventional procedure delivery device including two of the delivery channels.
4. The interventional procedure delivery device of claim 1 or 2, comprising two of the driving wheels and 3 of the driven wheels, the driving wheels alternating in sequence with the driven wheels, the interventional procedure delivery device comprising 4 of the delivery channels.
5. The interventional procedure delivery device of claim 1 or 2, comprising a plurality of first driven wheel sets comprising a plurality of the driven wheels distributed in the direction of the delivery channel, the first driven wheel sets alternating with the drive wheels, the delivery channel being formed between adjacent first driven wheel sets and the drive wheels.
6. The interventional procedure delivery device of claim 5, wherein the first driven wheel set includes two of the driven wheels.
7. The interventional procedure delivery device of claim 1, wherein the driven wheel is an eccentric wheel, the driven wheel being coupled to a driven motor, the driven motor driving the driven wheel to rotate so as to bias the driven wheel away from or toward the drive wheel.
8. The interventional procedure delivery device of claim 7, wherein the driven wheel comprises an eccentric shaft and a wrapping roller sleeved outside the eccentric shaft, the eccentric shaft and the wrapping roller are connected through a first bearing, an axis of the first bearing is coincident with an axis of the driven wheel, and the motor is connected with the eccentric shaft.
9. An interventional surgical delivery device, comprising: a plurality of delivery mechanisms; the delivery mechanism comprises a driving wheel set and a second driven wheel set, a delivery channel for a guide wire or a catheter to pass through is formed between the driving wheel set and the second driven wheel set, and the interventional operation delivery device comprises a plurality of delivery channels;
the second driven wheel set comprises a plurality of driven wheels distributed along the direction of the delivery channel, and the driving wheel set comprises a plurality of driving wheels distributed along the direction of the delivery channel;
the second driven wheel set is configured to be offset from or adjacent to the drive wheel, which is configured to be rotatable in both directions.
10. The interventional procedure delivery device of claim 9, wherein the driving pulley set comprises a driving pulley belt sleeved outside the driving pulley, the second driven pulley set comprises a driven pulley belt sleeved outside the driven pulley, and the delivery channel is disposed between the driving pulley belt and the driven pulley belt.
11. The interventional surgical delivery device of claim 9, wherein the delivery channels in a plurality of the delivery mechanisms each extend in a radial direction of the same circle.
12. An interventional procedure delivery system, comprising: a plurality of scaffolds, a plurality of clamping devices, and the interventional procedure delivery device of any one of claims 1-11, one of the delivery channels corresponding to a set of the scaffolds and the clamping devices, the interventional procedure delivery system configured such that a guide wire or catheter passes through the clamping devices and the scaffolds into the delivery channels.
13. The interventional procedure delivery system of claim 12, wherein the support frame includes a support base and a support wheel rotatably mounted to the support base, a torsion spring being disposed between the support wheel and the support base;
the supporting seat is provided with a loading and unloading opening, the supporting wheel is provided with a supporting groove, and the torsional spring is constructed to drive the supporting wheel to rotate so that the supporting groove deviates from the loading and unloading opening.
14. The interventional procedure delivery system of claim 13, wherein the clamping device comprises a clamping motor, a clamping eccentric, and a clamping driven wheel, the clamping device being configured such that a guide wire or catheter is disposed between the clamping eccentric and the clamping driven wheel, the clamping motor being connected to the clamping eccentric, the clamping motor driving the clamping eccentric to rotate to adjust the size of the spacing between the clamping eccentric and the clamping driven wheel.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110215666.9A CN113509302A (en) | 2021-02-26 | 2021-02-26 | Interventional procedure delivery device and delivery system |
| PCT/CN2022/077986 WO2022179617A1 (en) | 2021-02-26 | 2022-02-25 | Interventional procedure delivery device and delivery system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110215666.9A CN113509302A (en) | 2021-02-26 | 2021-02-26 | Interventional procedure delivery device and delivery system |
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| CN113509302A true CN113509302A (en) | 2021-10-19 |
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| CN202110215666.9A Pending CN113509302A (en) | 2021-02-26 | 2021-02-26 | Interventional procedure delivery device and delivery system |
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| CN (1) | CN113509302A (en) |
| WO (1) | WO2022179617A1 (en) |
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| CN114522325A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Motion control device for guide wire and surgical robot |
| CN114522326A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Guide wire intervention device and blood vessel intervention operation robot |
| WO2022179617A1 (en) * | 2021-02-26 | 2022-09-01 | 中国科学院自动化研究所 | Interventional procedure delivery device and delivery system |
| WO2023093579A1 (en) * | 2021-11-23 | 2023-06-01 | 生一科技(北京)有限公司 | Transluminal intervention system |
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| WO2022179617A1 (en) | 2022-09-01 |
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